GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) tight combination deception detection method based on innovation robust estimation

The invention provides a GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) tight combination deception detection method based on innovation robust estimation, and belongs to the technical field of navigation system deception detection. When an existing deception detection algorithm detects slowly increasing slope type deception jamming, due to the fact that the rate of deception increasing is small, a preset detection threshold value can be reached through long-time accumulation, then the deception is detected, and the detection time is too long. When it is difficult to judge whether spoofing exists or not, the equivalent weight matrix is calculated according to the average normalized information vector and the upper and lower limit detection thresholds, then the weight reduction processing is performed through the equivalent weight matrix to obtain the new gain matrix, and the priori estimation state vector and the priori covariance estimation vector are optimized through the gain matr